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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li>  </ul>
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<a href="boundingvolume__util_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="boundingvolume__util_8h.html">boundingvolume_util.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision_object.h</a>&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="primitive__collision__tests_8h.html">primitive_collision_tests.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;limits.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a>{</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    </div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classcollision_1_1_b_v_h_intersection.html#af8aa6eca31346f0088fb18fd5ec90c7b">   10</a></span>&#160;<a class="code" href="classcollision_1_1_b_v_h_intersection.html#af8aa6eca31346f0088fb18fd5ec90c7b">BVHIntersection::BVHIntersection</a>(<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> bvh_a,</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;                                 <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> bvh_b) {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  root_bvh_a_ = bvh_a;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  root_bvh_b_ = bvh_b;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  pairs_of_bvh_to_check_.push(<a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a>(root_bvh_a_,</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                                                         root_bvh_b_));</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">reset</a>();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;}</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">   19</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">BVHIntersection::reset</a>() {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  new_narrow_phase_candidate_ = <span class="keyword">false</span>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  narrow_phase_candidates_.clear();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keywordflow">while</span> (!pairs_of_bvh_to_check_.empty()) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    pairs_of_bvh_to_check_.pop();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  }</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  pairs_of_bvh_to_check_.push(<a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a>(root_bvh_a_,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                                                         root_bvh_b_));</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  findNextCandidate();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classcollision_1_1_b_v_h_intersection.html#a2741854953bb8daa3f82b33e8a8dd03f">   30</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_b_v_h_intersection.html#a2741854953bb8daa3f82b33e8a8dd03f">BVHIntersection::hasNextCandidates</a>() {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordflow">return</span> new_narrow_phase_candidate_;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keywordtype">void</span> BVHIntersection::findNextCandidate() {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">int</span> n_candidates = narrow_phase_candidates_.size();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordflow">while</span> (!pairs_of_bvh_to_check_.empty()) {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    traverseTreeStep();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">if</span> (narrow_phase_candidates_.size() &gt; n_candidates) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      new_narrow_phase_candidate_ = <span class="keyword">true</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keywordflow">return</span>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;}</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classcollision_1_1_b_v_h_intersection.html#afdf2d313a271e2035b5ce710f95c5b68">   45</a></span>&#160;<a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a> <a class="code" href="classcollision_1_1_b_v_h_intersection.html#afdf2d313a271e2035b5ce710f95c5b68">BVHIntersection::nextCandidates</a>() {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordflow">if</span> (new_narrow_phase_candidate_) {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    new_narrow_phase_candidate_ = <span class="keyword">false</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">auto</span> ret = narrow_phase_candidates_.back();</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    findNextCandidate();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a>(<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }  </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> overlapBVH(<a class="code" href="classcollision_1_1_bounding_volume.html">BoundingVolume</a> bv_first,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                              <a class="code" href="classcollision_1_1_bounding_volume.html">BoundingVolume</a> bv_second) {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (bv_first.<a class="code" href="classcollision_1_1_bounding_volume.html#a76bc2fdfa22420fbe44b1ce594f23032">t</a>()[1] &lt; bv_second.<a class="code" href="classcollision_1_1_bounding_volume.html#a76bc2fdfa22420fbe44b1ce594f23032">t</a>()[0] || </div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      bv_first.<a class="code" href="classcollision_1_1_bounding_volume.html#a76bc2fdfa22420fbe44b1ce594f23032">t</a>()[0] &gt; bv_second.<a class="code" href="classcollision_1_1_bounding_volume.html#a76bc2fdfa22420fbe44b1ce594f23032">t</a>()[1]) {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (bv_first.<a class="code" href="classcollision_1_1_bounding_volume.html#aa08acbdd9abe467b6dd4019a48c0fb77">x</a>()[1] &lt; bv_second.<a class="code" href="classcollision_1_1_bounding_volume.html#aa08acbdd9abe467b6dd4019a48c0fb77">x</a>()[0] ||</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      bv_first.<a class="code" href="classcollision_1_1_bounding_volume.html#aa08acbdd9abe467b6dd4019a48c0fb77">x</a>()[0] &gt; bv_second.<a class="code" href="classcollision_1_1_bounding_volume.html#aa08acbdd9abe467b6dd4019a48c0fb77">x</a>()[1]) {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">if</span> (bv_first.<a class="code" href="classcollision_1_1_bounding_volume.html#a477833000b70d61c1ab45131fbc95793">y</a>()[1] &lt; bv_second.<a class="code" href="classcollision_1_1_bounding_volume.html#a477833000b70d61c1ab45131fbc95793">y</a>()[0] ||</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      bv_first.<a class="code" href="classcollision_1_1_bounding_volume.html#a477833000b70d61c1ab45131fbc95793">y</a>()[0] &gt; bv_second.<a class="code" href="classcollision_1_1_bounding_volume.html#a477833000b70d61c1ab45131fbc95793">y</a>()[1]) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    </div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classcollision_1_1_b_v_h_intersection.html#a0bac7a0c49a9addcd87c7354b46c9928">   73</a></span>&#160;std::vector&lt;BoundingVolumeConstPtrPair&gt; <a class="code" href="classcollision_1_1_b_v_h_intersection.html#a0bac7a0c49a9addcd87c7354b46c9928">BVHIntersection::findAllCandidates</a>() {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">reset</a>();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">while</span> (!pairs_of_bvh_to_check_.empty()) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    traverseTreeStep();</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">return</span> narrow_phase_candidates_;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keywordtype">void</span> BVHIntersection::traverseTreeStep() {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  assert(~pairs_of_bvh_to_check_.empty());</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">auto</span> pair_to_check = pairs_of_bvh_to_check_.top();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  pairs_of_bvh_to_check_.pop();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (overlapBVH(*pair_to_check.first, *pair_to_check.second)) {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">if</span> (pair_to_check.first-&gt;isLeaf() &amp;&amp; pair_to_check.second-&gt;isLeaf()) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      narrow_phase_candidates_.push_back(pair_to_check);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!pair_to_check.first-&gt;isLeaf()) {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> child : pair_to_check.first-&gt;getChildrenBoundingVolumes()) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        pairs_of_bvh_to_check_.push(</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          <a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a>(child, pair_to_check.second));</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> child : pair_to_check.second-&gt;getChildrenBoundingVolumes()) {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        pairs_of_bvh_to_check_.push(</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <a class="code" href="namespacecollision.html#a518590130522293c6af011250b39738b">BoundingVolumeConstPtrPair</a>(pair_to_check.first, child));</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  } </div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="namespacecollision.html#a50c2c749f9661cfd59a7e344ee164efb">  102</a></span>&#160;<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> <a class="code" href="namespacecollision.html#a50c2c749f9661cfd59a7e344ee164efb">buildBoundingVolumeHierarchy</a>(</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; collision_objects_) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">double</span> BVH_TIME_FACTOR = 1.0;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">struct </span>bv_match {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> bv_first;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> bv_second;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">double</span> volume;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">bool</span> operator()(bv_match bvm1, bv_match bvm2) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordflow">return</span> (bvm1.volume &gt; bvm2.volume);  <span class="comment">// operator for storting, &quot;&gt;&quot; for negative sorting</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    } </div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  } comperator;  <span class="comment">// instance for vector sorting needed</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// initialize the bvh pointer</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> bounding_volume_hierarchy_;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">//  build up the BVs for all leaf nodes</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  std::vector&lt;BoundingVolumeConstPtr&gt; bvs;  <span class="comment">// statt einem reinen Vektor kann hier auch eine eigene Klasse verwendet werden, die z.B. auch eine bestmatch() Funktion hat</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  std::array&lt;int, 2&gt; t_borders = {INT_MAX, INT_MIN};</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;co : collision_objects_) {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> temp = co-&gt;<a class="code" href="classcollision_1_1_bounding_volume.html#af54ac98f6a3afb4cb27864ed71d68fdd">getBoundingVolume</a>();</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    bvs.push_back(temp);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    std::array&lt;int, 2&gt; t_temp = temp-&gt;t();</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// non-static element</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (t_temp[0] &gt;= 0) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordflow">if</span> (t_temp[0] &lt; t_borders[0]) {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        t_borders[0] = t_temp[0];</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">if</span> (t_temp[1] &gt; t_borders[1]) {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        t_borders[1] = t_temp[1];</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span> (t_borders[0] == INT_MAX &amp;&amp; t_borders[1] == INT_MIN)</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  {</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    t_borders = {0, 1};</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  } <span class="comment">// only static objects --&gt; Static factor becomes 1</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">//  build the priority queue for the matching nodes</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  std::vector&lt;bv_match&gt; matches; <span class="comment">//statt einem Vektor kann hier auch eine std::priority_queue verwendet werden</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">for</span> (<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> &amp;bv1 : bvs) {</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> best_match;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordtype">double</span> best_volume = INFINITY;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">for</span> (<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> &amp;bv2 : bvs) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">double</span> x_temp = std::max(bv1-&gt;x()[1], bv2-&gt;x()[1]) -</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                      std::min(bv1-&gt;x()[0], bv2-&gt;x()[0]);</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keywordtype">double</span> y_temp = std::max(bv1-&gt;y()[1], bv2-&gt;y()[1]) -</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                      std::min(bv1-&gt;y()[0], bv2-&gt;y()[0]);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">double</span> t_temp = t_borders[1] - t_borders[0];</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordflow">if</span> (bv1-&gt;t()[0] &gt; -1 &amp;&amp; bv2-&gt;t()[0] &gt; -1) { <span class="comment">// both are non-static objects</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        t_temp = std::max(bv1-&gt;t()[1], bv2-&gt;t()[1]) - </div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                 std::min(bv1-&gt;t()[0], bv2-&gt;t()[0]);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordtype">double</span> volume_temp = x_temp * y_temp * t_temp * BVH_TIME_FACTOR;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordflow">if</span> (volume_temp &lt; best_volume &amp;&amp; bv1 != bv2) {</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        best_volume = volume_temp;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        best_match = bv2;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      }</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    }</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    matches.push_back({bv1, best_match, best_volume});</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="comment">// sort using overloaded operator</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  std::sort(matches.begin(), matches.end(), comperator);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="comment">// iteratively pair and drop bvs until there is only one bounding volume (i.e. only one match)</span></div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">while</span> (matches.size() &gt; 1) {</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    bv_match match_pair = matches.back();</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    matches.pop_back();</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">//  check if node is already paired (not in bvs any more)</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">bool</span> in = <span class="keyword">false</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">for</span> (<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> &amp;bv : bvs) {</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordflow">if</span> (match_pair.bv_first == bv) {</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        in = <span class="keyword">true</span>;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordflow">if</span> (in == <span class="keyword">false</span>) {</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    } <span class="comment">//continue with the next match</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// recompute the best matching bv for bv_first</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> re_best_match;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordtype">double</span> re_best_volume = INFINITY;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">for</span> (<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> &amp;bv_partner : bvs) {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">double</span> re_x_temp = std::max(match_pair.bv_first-&gt;x()[1],</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                                  bv_partner-&gt;x()[1]) - </div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                         std::min(match_pair.bv_first-&gt;x()[0],</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                                  bv_partner-&gt;x()[0]);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">double</span> re_y_temp = std::max(match_pair.bv_first-&gt;y()[1],</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                                  bv_partner-&gt;y()[1]) -</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                         std::min(match_pair.bv_first-&gt;y()[0],</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                                  bv_partner-&gt;y()[0]);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">double</span> re_t_temp = t_borders[1] - t_borders[0];</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordflow">if</span> (match_pair.bv_first-&gt;t()[0] &gt; -1 &amp;&amp; bv_partner-&gt;t()[0] &gt; -1) { </div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="comment">// both are non-static objects</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        re_t_temp = std::max(match_pair.bv_first-&gt;t()[1], bv_partner-&gt;t()[1]) - </div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                    std::min(match_pair.bv_first-&gt;t()[0], bv_partner-&gt;t()[0]);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">double</span> re_volume_temp = re_x_temp * re_y_temp * re_t_temp * BVH_TIME_FACTOR;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">if</span> (re_volume_temp &lt; re_best_volume &amp;&amp; match_pair.bv_first != bv_partner) {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        re_best_volume = re_volume_temp;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        re_best_match = bv_partner;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    }</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="comment">// Check, if still the best match</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">if</span> (match_pair.bv_second == re_best_match) {</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="comment">// pair the best match</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      std::vector&lt;BoundingVolumeConstPtr&gt; pair_bvs;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      pair_bvs.push_back(match_pair.bv_first);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      pair_bvs.push_back(match_pair.bv_second);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <a class="code" href="classcollision_1_1_bounding_volume.html">BoundingVolume</a> *pair_bv = <span class="keyword">new</span> <a class="code" href="classcollision_1_1_bounding_volume.html">BoundingVolume</a>(pair_bvs);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="comment">// delete paired nodes</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      std::vector&lt;int&gt; bv_idx;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = bvs.size() - 1; i &gt;= 0; i--) {</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="comment">//invertion for safe deletion of the correct elements</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordflow">if</span> (match_pair.bv_first == bvs[i] || match_pair.bv_second == bvs[i]) {</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          bv_idx.push_back(i);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      }</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> &amp;element : bv_idx) {</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        bvs.erase(bvs.begin() + element);</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      }</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="comment">// add new BV to the tree or return the upmost Bounding Volume</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      std::shared_ptr&lt;BoundingVolume&gt; pair_bv_ptr = </div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        std::shared_ptr&lt;BoundingVolume&gt;(pair_bv);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordflow">if</span> (bvs.size() == 0) {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="comment">// set and return the upmost bounding volume</span></div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        bounding_volume_hierarchy_ = pair_bv_ptr;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="keywordflow">return</span> pair_bv_ptr; <span class="comment">// break condition for last Bounding Volume --&gt; fully built up tree</span></div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        bvs.push_back(pair_bv_ptr);</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="comment">// Compute the best pairing node for the new node; insert it into queue</span></div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> new_best_match;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keywordtype">double</span> new_best_volume = INFINITY;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordflow">for</span> (<a class="code" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> &amp;new_bv_partner : bvs) {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordtype">double</span> new_x_temp = std::max(match_pair.bv_first-&gt;x()[1],</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                                      new_bv_partner-&gt;x()[1]) - </div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                            std::min(match_pair.bv_first-&gt;x()[0],</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                                      new_bv_partner-&gt;x()[0]);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keywordtype">double</span> new_y_temp = std::max(match_pair.bv_first-&gt;y()[1],</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                                      new_bv_partner-&gt;y()[1]) -</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                            std::min(match_pair.bv_first-&gt;y()[0],</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                                      new_bv_partner-&gt;y()[0]);</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keywordtype">double</span> new_t_temp = t_borders[1] - t_borders[0];</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">if</span> (match_pair.bv_first-&gt;t()[0] &gt; -1 &amp;&amp; new_bv_partner-&gt;t()[0] &gt; -1) {</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          <span class="comment">// both are non-static objects</span></div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          new_t_temp = std::max(match_pair.bv_first-&gt;t()[1],</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                                new_bv_partner-&gt;t()[1]) - </div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                        std::min(match_pair.bv_first-&gt;t()[0],</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                                new_bv_partner-&gt;t()[0]);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        }</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="keywordtype">double</span> new_volume_temp = new_x_temp * new_y_temp * new_t_temp * BVH_TIME_FACTOR;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keywordflow">if</span> (new_volume_temp &lt; new_best_volume &amp;&amp; match_pair.bv_first != new_bv_partner) {</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          new_best_volume = new_volume_temp;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          new_best_match = new_bv_partner;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        }</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      }</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="comment">// add pair for the new node</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      matches.push_back({pair_bv_ptr, new_best_match, new_best_volume});</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="comment">//add new best match for that node</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        matches.push_back({match_pair.bv_first, re_best_match, re_best_volume});</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    }</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="comment">// sort list of matches using overloaded operator</span></div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    std::sort(matches.begin(), matches.end(), comperator);</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="keywordflow">return</span> bounding_volume_hierarchy_;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;}</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;}</div><div class="ttc" id="boundingvolume__util_8h_html"><div class="ttname"><a href="boundingvolume__util_8h.html">boundingvolume_util.h</a></div></div>
<div class="ttc" id="classcollision_1_1_bounding_volume_html_aa08acbdd9abe467b6dd4019a48c0fb77"><div class="ttname"><a href="classcollision_1_1_bounding_volume.html#aa08acbdd9abe467b6dd4019a48c0fb77">collision::BoundingVolume::x</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; x() const </div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume_8cc_source.html#l00119">boundingvolume.cc:119</a></div></div>
<div class="ttc" id="classcollision_1_1_bounding_volume_html"><div class="ttname"><a href="classcollision_1_1_bounding_volume.html">collision::BoundingVolume</a></div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume_8h_source.html#l00012">boundingvolume.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_bounding_volume_html_a76bc2fdfa22420fbe44b1ce594f23032"><div class="ttname"><a href="classcollision_1_1_bounding_volume.html#a76bc2fdfa22420fbe44b1ce594f23032">collision::BoundingVolume::t</a></div><div class="ttdeci">std::array&lt; int, 2 &gt; t() const </div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume_8cc_source.html#l00125">boundingvolume.cc:125</a></div></div>
<div class="ttc" id="classcollision_1_1_bounding_volume_html_af54ac98f6a3afb4cb27864ed71d68fdd"><div class="ttname"><a href="classcollision_1_1_bounding_volume.html#af54ac98f6a3afb4cb27864ed71d68fdd">collision::BoundingVolume::getBoundingVolume</a></div><div class="ttdeci">BoundingVolumeConstPtr getBoundingVolume() const </div><div class="ttdoc">Dispatcher functions. </div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume_8cc_source.html#l00105">boundingvolume.cc:105</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="_application_8h_source.html#l00025">Application.h:25</a></div></div>
<div class="ttc" id="classcollision_1_1_bounding_volume_html_a477833000b70d61c1ab45131fbc95793"><div class="ttname"><a href="classcollision_1_1_bounding_volume.html#a477833000b70d61c1ab45131fbc95793">collision::BoundingVolume::y</a></div><div class="ttdeci">std::array&lt; double, 2 &gt; y() const </div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume_8cc_source.html#l00122">boundingvolume.cc:122</a></div></div>
<div class="ttc" id="namespacecollision_html_a50c2c749f9661cfd59a7e344ee164efb"><div class="ttname"><a href="namespacecollision.html#a50c2c749f9661cfd59a7e344ee164efb">collision::buildBoundingVolumeHierarchy</a></div><div class="ttdeci">BoundingVolumeConstPtr buildBoundingVolumeHierarchy(std::vector&lt; CollisionObjectConstPtr &gt; collision_objects_)</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00102">boundingvolume_util.cc:102</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_af8aa6eca31346f0088fb18fd5ec90c7b"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#af8aa6eca31346f0088fb18fd5ec90c7b">collision::BVHIntersection::BVHIntersection</a></div><div class="ttdeci">BVHIntersection(BoundingVolumeConstPtr bvh_a, BoundingVolumeConstPtr bvh_b)</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00010">boundingvolume_util.cc:10</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_afdf2d313a271e2035b5ce710f95c5b68"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#afdf2d313a271e2035b5ce710f95c5b68">collision::BVHIntersection::nextCandidates</a></div><div class="ttdeci">BoundingVolumeConstPtrPair nextCandidates()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00045">boundingvolume_util.cc:45</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_abedecb8be5b2c2c02b8f1d683e239230"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#abedecb8be5b2c2c02b8f1d683e239230">collision::BVHIntersection::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00019">boundingvolume_util.cc:19</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_a2741854953bb8daa3f82b33e8a8dd03f"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#a2741854953bb8daa3f82b33e8a8dd03f">collision::BVHIntersection::hasNextCandidates</a></div><div class="ttdeci">bool hasNextCandidates()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00030">boundingvolume_util.cc:30</a></div></div>
<div class="ttc" id="classcollision_1_1_b_v_h_intersection_html_a0bac7a0c49a9addcd87c7354b46c9928"><div class="ttname"><a href="classcollision_1_1_b_v_h_intersection.html#a0bac7a0c49a9addcd87c7354b46c9928">collision::BVHIntersection::findAllCandidates</a></div><div class="ttdeci">std::vector&lt; BoundingVolumeConstPtrPair &gt; findAllCandidates()</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8cc_source.html#l00073">boundingvolume_util.cc:73</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1f68b4864b28e2694b3b3b7a1f9e43c"><div class="ttname"><a href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">collision::BoundingVolumeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const BoundingVolume &gt; BoundingVolumeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00035">collision_object.h:35</a></div></div>
<div class="ttc" id="namespacecollision_html_a518590130522293c6af011250b39738b"><div class="ttname"><a href="namespacecollision.html#a518590130522293c6af011250b39738b">collision::BoundingVolumeConstPtrPair</a></div><div class="ttdeci">std::pair&lt; BoundingVolumeConstPtr, BoundingVolumeConstPtr &gt; BoundingVolumeConstPtrPair</div><div class="ttdef"><b>Definition:</b> <a href="boundingvolume__util_8h_source.html#l00008">boundingvolume_util.h:8</a></div></div>
<div class="ttc" id="primitive__collision__tests_8h_html"><div class="ttname"><a href="primitive__collision__tests_8h.html">primitive_collision_tests.h</a></div></div>
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